MOSTS: a mobile robot with a spherical continuously variable transmission. - Jungyun Kim; Hanjun Yeom; Frank Chongwoo Park (IROS, 1999)

On the Energy Efficiency of CVT-Based Mobile Robots. - Jungyun Kim; Hanjun Yeom; Frank C. Park 001; Yeongil I. Park; Munsang Kim (ICRA, 2000)